Add DualSense native pair and Wii-only IMU settling

tests/test_switch2_dualsense_bridge_native.py

@@ -0,0 +1,57 @@
+from __future__ import annotations
+
+import shutil
+import subprocess
+from pathlib import Path
+
+import pytest
+
+
+@pytest.mark.parametrize("imu_target", [1, 2, 3], ids=["right", "left", "both"])
+def test_dualsense_native_bridge_mapping_motion_and_backpressure(
+    tmp_path: Path,
+    imu_target: int,
+) -> None:
+    root = Path(__file__).resolve().parents[1]
+    compiler = shutil.which("c++") or shutil.which("g++")
+    assert compiler is not None, "a host C++ compiler is required"
+    executable = tmp_path / "switch2_dualsense_bridge_test"
+    subprocess.run(
+        [
+            compiler,
+            "-std=c++17",
+            "-Wall",
+            "-Wextra",
+            "-Werror",
+            "-pedantic",
+            "-DSWITCH_PICO_SWITCH2_USB_BRIDGE=1",
+            "-DSWITCH2_BRIDGE_DUALSENSE_INPUT=1",
+            "-DSWITCH2_BRIDGE_SOURCE_AUTO=1",
+            "-DSWITCH2_PROBE_HUB=1",
+            f"-DSWITCH2_BRIDGE_IMU_TARGET_MASK={imu_target}",
+            "-DSWITCH_PICO_BLUEPAD32=1",
+            "-DSWITCH_PICO_ENABLE_CLASSIC=1",
+            f"-I{root / 'tests' / 'switch2_mouse_bridge_native_stubs'}",
+            f"-I{root / 'tests' / 'wii_ir_aiming_native_stubs'}",
+            f"-I{root / 'tools' / 'switch2_usb_probe'}",
+            f"-I{root / 'src' / 'firmware'}",
+            str(root / "tests" / "switch2_dualsense_bridge_test.cpp"),
+            str(root / "tools" / "switch2_usb_probe" / "controller_input.cpp"),
+            str(root / "tools" / "switch2_usb_probe" / "dualsense_input.cpp"),
+            str(root / "tools" / "switch2_usb_probe" / "native_imu.cpp"),
+            str(root / "src" / "firmware" / "core" / "controller_identity.cpp"),
+            str(root / "src" / "firmware" / "profile" / "controller_profile.cpp"),
+            str(
+                root
+                / "src"
+                / "firmware"
+                / "profile"
+                / "controller_profile_transform.cpp"
+            ),
+            "-o",
+            str(executable),
+        ],
+        check=True,
+        cwd=root,
+    )
+    subprocess.run([str(executable)], check=True, cwd=root)